Sequence Wizard for a ScrewTighten Sequence
Use the sequence wizard to create a ScrewTighten sequence. This sequence wizard can be displayed by doing the following.
- Right click the sequence flow in the flowchart, or the sequence node in the sequence tree, and then select [Sequence Wizard].
- Click the
button shown to the right of the [Click to open->] Wizard setting in the ScrewTighten sequence property.
When the sequence wizard appears, configure settings as instructed on the screen.
The sequence wizard for a ScrewTighten sequence can also be configured on the new sequence screen for creating a new force guide sequence. For more information, see the following section.
Software [Force Guidance] [Tools] menu
- Create a new force guide sequence - Sequence Wizard, Create a new system force guide sequence
Step 1. Set screw parameters
Select the hand number you plan to use for the ScrewTighten sequence, ScrewTighten object, and ScrewRetighten object, and set the screwdriver and screw.
The robot operating speed during screw tightening is determined by the rotational speed of the screwdriver and the lead length of the screw.
Item | Description, setting guide |
|---|---|
| Robot Hand | Select the robot hand number to be used. A label is displayed on the set robot hand. To set a new tool, use Robot Manager. For more information about the robot hand setting, see the following manual. "Hand Function Manual" Minimum value: 1 Maximum value:15 Default: 1 |
| Driver rotation speed | Set driver rotation speed. Minimum value: 10.000[rpm] Maximum value: 2000.000[rpm] Default: 600.000[rpm] |
| Screw length | Set screw length. Minimum value: 1.000 [mm] Maximum value: 100.000 [mm] Default: 10.000[mm] |
| Screw lead length | Set screw lead length. Minimum value: 0.100 [mm] Maximum value: 6.000 [mm] Default: 0.500[mm] |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | When opening from the new sequence creation screen, you can return to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 2. Select the robot tool to use for the end effector
Select the tool number to be used for the ScrewTighten sequence, ScrewTighten object, and ScrewRetighten object.
Item | Description, setting guide |
|---|---|
| Tool | Select the tool number to be used. Select a tool number so that the end point of the workpiece is at the tool origin point. Tool numbers set are sorted in the list. To set a new tool, use the Tool Wizard button. "Epson RC+ 8.0 User's Guide - Epson RC+ 8.0 GUI - [Tools] menu, [Tools] - [Robot Manager] - [Tool Settings] panel" Minimum value: 0 Maximum value: Maximum value for the set tool number Default: 0 |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | When opening from the new sequence creation screen, you can return to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 3. Set tool offsets
When the tool set in Step 2 is not set in the center of the workpiece tip, this setting is required. Set the offset amount from the tool to the center of the workpiece tip.
Item | Description, setting guide |
|---|---|
| X Offset | Sets the offset amount in the X direction from the tool set in Step 1 to the tip of the workpiece. Minimum value: -2000.000 [mm] Maximum value: 2000.000 [mm] Default: 0.000[mm] |
| Y Offset | Sets the offset amount in the Y direction from the tool set in Step 1 to the tip of the workpiece. Minimum value: -2000.000 [mm] Maximum value: 2000.000 [mm] Default: 0.000[mm] |
| Z Offset | Sets the offset amount in the Z direction from the tool set in Step 1 to the tip of the workpiece. Minimum value: -2000.000 [mm] Maximum value: 2000.000 [mm] Default: 0.000[mm] |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 4. Set the screw tighten operation coordinate system and direction
Set the screw tighten direction.
Select "Tool" to perform the screw tighten operation that matches the orientation when starting the sequence.
Select "Base or Local" to perform the screw tighten operation in the direction that matches the workpiece regardless of the orientation when starting the sequence.
Item | Description, setting guide |
|---|---|
| Robot local | Select the coordinate system used by the ScrewTighten sequence. When the screw tighten coordinate system is set to "Base" or "Local", the robot will move in the corresponding coordinate system. Select the coordinate system according to the orientation of the workpiece being inserted. Minimum value: Base (0) Maximum value: 15 Default: Base |
| Screw tighten direction | Select the direction of screw tightening. When the screw tighten coordinate system is set to "Tool", the ScrewTighten sequence and ScrewTighten object will move in the direction of screw tightening selected for the tool coordinate system set in Step 2. When the screw tighten coordinate system is set to "Base" or "Local", the ScrewTighten sequence and ScrewTighten object will move in the direction of screw tightening selected for the base or local coordinate system set as the coordinate system. Values: +Fx, -Fx, +Fy, -Fy, +Fz, -Fz Default: +Fz |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 5. Select whether to enable screw retightening
Select whether to enable screw retightening.
Item | Description, setting guide |
|---|---|
| Enable retighten | Set whether to retighten the screw. When enabled, if the screw is not tightened properly, loosen it and retighten it. Retightening may tighten the screw correctly, but the cycle time will increase. Default: Disabled |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 6. Set the approach distance for the screw driving operation
Set the approach distance for the screw driving.
Item | Description, setting guide |
|---|---|
| Approach distance | Set an approach distance. The approach distance is the distance 1 depicted in the diagram below, which is the distance between the end point of the gripped screw at the start of the ScrewTighten sequence indicated by the green dot in the diagram, and the opening of the screw hole. Teach the robot a start point of the motion that shortens the approach distance as much as possible. As the force control function is slower than position control, longer approach distances will result in longer cycle times.
Minimum value: 0.000 [mm] Maximum value: 50.000 [mm] Default: 10.000[mm] |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 7. Set the screw driving force required
Set the screw driving force required. While this property setting can be configured directly, this is for advanced users.
Item | Description, setting guide |
|---|---|
| Screw size | Set a screw size. Choose from three presets, "Small", "Medium", and "Large". A guideline for the screw size to choose from is provided below. Small: M1.5 Medium: M3 Large: M6 |
| PressForce | Set a pressing force to apply in the direction of screw tightening. The actual force will be greater than the force set due to friction between the screw and the screw hole while tightening screw. This can be set by selecting advanced settings. Press the |
When the screw tightening direction is in the positive direction: Minimum value: -50.0 [N] Maximum value: 0.0 [N] Default: -10.0 [N] | |
When the screw tightening direction is in the negative direction: Minimum value: 0.0 [N] Maximum value: 50.0 [N] Default: 10.0 [N] | |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 8. Set the end condition for screw tightening force
Set the screw collision detection force.
Item | Description, setting guide |
|---|---|
| Screw collision detection force | Set a screw collision detection force. The screw collision detection force is the size of the force used to determine an operation failure when the screw is pressed against an object other than the screw hole. Set this force to a sufficiently greater value than the screw force set in Step 7. This is because the pressing force may be greater than the force set due to friction between the screw and the screw hole. |
When the screw tightening direction is in the positive direction: Minimum value: -100.000 [N] Maximum value: -10.000 [N] Default: -30.000 [N] | |
When the screw tightening direction is in the negative direction: Minimum value: 10.000 [N] Maximum value: 100.000 [N] Default: 30.000 [N] | |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 9. Configure screw retightening operation
Configure screw retightening operation parameters. This settings screen will appear when screw retightening is enabled in Step 5.
Item | Description, setting guide |
|---|---|
| Loosen timeout | Set the screw loosening duration. If the screw loosening complete bit is configured for the screwdriver in robot hand settings, screw loosening will stop if the screw loosening complete signal is received before the loosen timeout elapses. Screw loosening will stop regardless of whether a screw loosening complete signal is received when the loosen timeout runs out. Minimum value: 0.000 [sec] Maximum value: 1.000 [sec] Default: 0.100 [sec] |
| Additional force | Set an additional pressing force. The additional force is an additional force to the pressing force set in Step 7 to ensure that the screw does not come out from the screwdriver bit during retightening. Normally, leave the default value of 0. Gradually increase this if the screw comes out during retightening. |
When the screw tightening direction is in the positive direction: Minimum value: -20.000 [N] Maximum value: 0.000 [N] Default: 0.000 [N] | |
When the screw tightening direction is in the negative direction: Minimum value: 0.000 [N] Maximum value: 20.000 [N] Default: 0.000 [N] | |
| Retighten press force | This shows the retighten pressing force. The retighten pressing force is calculated by adding the screw tightening pressing force set in Step 7, and the additional force. |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to the previous Step. |
| [Next] button | Proceeds to the next Step. |
| [Finish] button | You cannot click this button. |
Step 10. Change Summary
You can see the list of properties that have been changed in the wizard.
This is displayed when you edit the created ScrewTighten sequence in the Sequence Wizard. It is not displayed when creating a new one.
Item | Description |
|---|---|
| Object Property | Shows which properties of which sequence or object have been changed as a result of changing settings in the wizard. |
Previous Value New Value | Shows how the properties have been changed as a result of changing the settings in the wizard. |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to Step 8 when the screw retightening operation in Step 5 is disabled. Returns to Step 9 when the screw retightening operation in Step 5 is enabled. |
| [Next] button | You cannot click this button. |
| [Finish] button | Completes changing the ScrewTighten sequence with the entered contents. |
Finish: ScrewTighten Sequence Created
This is the completion screen for the set sequence. You can check the created sequence name and type.
The screen is displayed when opening from the new sequence creation screen.
Item | Description |
|---|---|
| Name | The sequence name set in Step 1. General. Refer to the next section for setting the sequence name. Software [Force Guidance] [Tools] menu - Create a new force guide sequence - Sequence Wizard: Create a new system force guide sequence - Step1: General |
| Type | The sequence type set in Step 3. Select system sequence. Refer to the next section for selecting the sequence type. Software [Force Guidance] [Tools] menu Create a new force guide sequence - Sequence Wizard: Create a new system force guide sequence -Step 3: Select system sequence |
| [Cancel] button | Cancels a new ScrewTighten sequence creation. Click it to end a sequence wizard. |
| [Back] button | Returns to Step 8 when the screw retightening operation in Step 5 is disabled. Returns to Step 9 when the screw retightening operation in Step 5 is enabled. |
| [Next] button | You cannot click this button. |
| [Finish] button | Completes creating a new ScrewTighten sequence with the entered contents. |